Surveying and mapping flatness calibration device and calibration method

Abstract

The invention discloses a surveying and mapping flatness calibration device and calibration method, and relates to the technical field of flatness calibration devices. The surveying and mapping flatness calibration device comprises a detection frame which is composed of two groups of supporting plates arranged side by side; the vertical displacement sensor is fixedly arranged at the upper part between the two groups of supporting plates; the detection wheel is located in the lower space between the two sets of supporting plates, a self-telescopic wheel frame is arranged between the detection wheel and the vertical displacement sensor, and the detection wheel is used for making contact with the surface of the wheel track belt; the color sensors are located on the two sides of the detection wheel, and the color sensors are used for detecting the color below the color sensors; according to the surveying and mapping flatness calibration device and method, the color sensor and the moving assembly are arranged, the color sensor is used for detecting the color below the color sensor so as to obtain whether the position of the detection wheel is on the wheel track band or not, and therefore the position of the detection wheel is adjusted through the moving assembly, and the detection precision is improved.

Description

Technical Field

[0001] The invention relates to the technical field of flatness calibration devices, and in particular to a surveying and mapping flatness calibration device and a calibration method. Background Art

[0002] Currently, after the road construction is completed, it is necessary to perform a flatness calibration operation on the road to ensure the construction quality of the road.

[0003] The existing technology uses a three-meter ruler or an eight-wheel balance tester to measure the road flatness calibration operation. The eight-wheel balance tester is used for measuring the road surface with good flatness. It has eight main wheels and one detection wheel. The "Highway Roadbed and Pavement Field Test Regulations" stipulates that when the inner wheel track is used as the detection point, or the outer wheel track is used as the detection point, the area 80cm-100cm away from the lane dividing line should be selected. However, in actual measurement, due to the instability of the vehicle towing the eight-wheel balance tester, the detection wheel is easy to deviate from the wheel track, resulting in its detection result being substantially inaccurate. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a surveying and mapping flatness calibration device and calibration method to solve the problems existing in the background technology.

[0005] To achieve the above objectives, in a first aspect, the present invention provides the following technical solutions: a surveying and mapping flatness calibration device, comprising: a detection frame, which is two groups of support plates arranged side by side; a vertical displacement sensor, which is fixedly arranged at an upper position between the two groups of support plates; a detection wheel, which is located in the lower space between the two groups of support plates, and a self-retractable wheel frame is provided between the detection wheel and the vertical displacement sensor, and the detection wheel is used to contact the surface of the wheel track belt; a color sensor, which is located on both sides of the detection wheel, and the color sensor is used to detect the color below itself; a controller, which is used to receive a signal from the color sensor and obtain information that the position of the detection wheel is located at or exceeds the wheel track belt; a moving component, which is arranged on the two groups of support plates, and the controller is used to control the operation of the moving component, and the moving component drives the detection wheel to move so that the detection wheel is always located on the surface of the wheel track belt.

[0006] Furthermore, the detection wheel is a circular roller, and a wheel frame is provided above the detection wheel; it also includes a steering assembly, which is installed on the detection frame, and the steering assembly steers the detection wheel by driving the self-retractable wheel frame to rotate to a required angle; a main frame for supporting the self-retractable wheel frame is provided on the detection frame, and transverse seats are provided on both sides of the main frame, and the transverse seats pass through the detection frame so that the main frame can slide on the detection frame when it is displaced.

[0007] Furthermore, the steering assembly includes a driven wheel fixed to the periphery of the self-retractable wheel frame, one side of the driven wheel is meshed with a driving wheel, and one side of the main frame is assembled with a steering motor for driving the driving wheel to rotate; the detection wheel after steering is driven by the moving assembly to undergo lateral displacement, so that the detection wheel re-enters the surface of the wheel track belt.

[0008] Furthermore, the moving component has two power output ends, and both power output ends are provided with connecting frames; the steering component includes articulated seats installed at two positions on one side of the self-retractable wheel frame that deviates from the direction of the transverse displacement seat, and both articulated seats are provided with pull ropes, each pull rope is connected to a connecting frame, and the moving component can pull the pull rope to drive the self-retractable wheel frame to rotate; a torsion spring is provided between the self-retractable wheel frame and the main frame; a drooping block is provided on the connecting frame, and a drag block is provided at the lower end of the drooping block, and a compensation groove adapted to the drag block is provided on the transverse displacement seat.

[0009] Furthermore, a cam is fixedly provided on the periphery of the self-retractable wheel frame, and sliders are provided on both sides of the cam, and the sliders can slide on the transverse displacement seat, and a spring is fixedly provided between the slider and the inner side wall of the detection frame; the color sensor is suspended below the slider. Furthermore, the detection wheel is a spherical wheel, and a wheel frame is provided on the upper and outer part of the detection wheel; transverse displacement seats are provided on both sides of the main frame, and the transverse displacement seats pass through the detection frame, so that the main frame can slide on the detection frame when it is displaced.

[0010] Furthermore, the self-retractable wheel frame includes: a sleeve; a telescopic rod, the telescopic rod is inserted into the sleeve, and a spring seat is fixedly provided at the lower end of the portion of the telescopic rod located in the sleeve, and a spring 2 is provided between the upper surface of the spring seat and the upper end of the sleeve; a pressure plate, the pressure plate is installed at the upper end of the telescopic rod, the pressure plate is a wide contact surface, so as to compensate for the displacement of the detection wheel, so that the pressure plate is always in contact with the lower end of the vertical displacement sensor.

[0011] In the second aspect, the present invention further provides a surveying and mapping flatness calibration device, comprising: a detection frame, the detection frame is two groups of support plates arranged side by side; a vertical displacement sensor, the vertical displacement sensor is fixedly arranged at the upper position between the two groups of support plates; a detection wheel, the detection wheel is located in the lower space between the two groups of support plates, and a self-retractable wheel frame is provided between the detection wheel and the vertical displacement sensor, the detection wheel is used to contact the surface of the wheel track belt, and a main frame for supporting the self-retractable wheel frame is provided on the detection frame, and transverse seats are provided on both sides of the main frame, and the transverse seats pass through the detection frame so that the main frame can be displaced when it is displaced. The invention relates to a vehicle frame for detecting a vehicle. The vehicle frame is sliding on the detection frame; an extension rod, which is arranged at one end of one of the transverse seats away from the main frame, and a color sensor is installed at the end of the extension rod away from the main frame, the color sensor is initially aligned with the lane dividing line, and the color sensor is used to detect the color below itself; a controller, which is used to receive the signal of the color sensor and obtain the information that the position of the color sensor is located at or crosses the lane dividing line; a moving component, which is arranged on two sets of support plates, and the controller is used to drive the moving component to work, and the moving component makes the detection wheel always located on the surface of the wheel track belt by changing the position of the main frame.

[0012] Furthermore, the extension rod includes an outer shell, one end of which is installed on one of the transverse shifting seats, a cross bar is inserted into the outer shell, a hanging seat is provided at the end of the cross bar away from the transverse shifting seat, and the color sensor is hung under the hanging seat; a clamping bolt is provided on the outer shell, and tightening the clamping bolt can lock the position of the cross bar on the outer shell.

[0013] In a third aspect, the present invention also provides a calibration method for use in the above-mentioned surveying and mapping flatness calibration device, comprising the following steps: Step 1: The detection frame is assembled on the rear of a moving vehicle, the detection wheel in a moving state detects the flatness of the wheel track, and the color sensor detects the chromaticity underneath it; Step 2: Through the chromaticity detected by the color sensor, the mobile component controls the position of the detection wheel to form a state in which the detection wheel is always located at the wheel track position.

[0014] The present invention has the following beneficial effects: the surveying and mapping flatness calibration device and calibration method are provided with a color sensor and a moving component, the color sensor is used to detect the color below itself to obtain whether the position of the detection wheel is on the wheel track belt, thereby adjusting its own position through the moving component, so that the detection wheel always detects the surface flatness of the wheel track belt, thereby improving the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is an overall diagram of the first embodiment of the present invention. Figure 2 This is an assembly diagram of the detection frame and the front frame in the first embodiment of the first invention. Figure 3 It is a schematic diagram of the internal structure of the detection frame in the first embodiment of the first invention. Figure 4 The first invention Figure 3 Schematic diagram of removing the support plate on one side of the inspection frame. Figure 5 This is a force direction diagram of the detection wheel when the moving assembly is working without assembling the steering assembly in the first embodiment of the first invention. Figure 6 The first invention Figure 4 Exploded diagram of . Figure 7 The first invention Figure 6 The first partial picture. Figure 8 It is a schematic diagram of the structure of the cam in the first invention. Fig. 9 It is a schematic diagram of the internal structure of the self-retractable wheel frame in the first invention. Fig.10 The first invention Figure 6 The second partial picture of .

[0016] Fig.11 This is a state diagram of the detection wheel being located on the wheel track belt in the first invention, wherein: Fig.11 (a) is the state diagram when the detection wheel is located at the center of the wheel track; Fig.11 (b) is a state diagram where the detection wheel is located on the left side of the wheel track; Fig.11 (c) is the state diagram when the detection wheel is located on the right side of the wheel track.

[0017] Fig.12 This is a state change diagram of the moving component and the steering component driving the detection wheel to return to its original position after the detection wheel in the first invention leaves the wheel track belt to the left, wherein: Fig.12 (a) is the state diagram of the detection wheel initially leaving the wheel track to the left; Fig.12 (b) is the diagram of the detection wheel turning right; Fig.12 (c) is the state diagram of the detection wheel moving onto the wheel track; Fig.12 (d) Diagram of the detection wheel turning left to reset.

[0018] Fig.13 It is a state diagram of the detection wheel in the first invention after the detection wheel leaves the wheel track belt to the right, and the moving component and the steering component drive the detection wheel to return to the position; Fig.13 (a) is the state diagram of the detection wheel initially leaving the wheel track to the right; Fig.13 (b) is the diagram of the detection wheel turning left; Fig.13 (c) is the state diagram of the detection wheel moving onto the wheel track; Fig.13 (d) Diagram of the detection wheel turning right to reset.

[0019] Fig.14 This is a schematic diagram of the installation of the detection wheel in the second embodiment of the first invention. Fig.15 The first invention Fig.14 Exploded diagram of . Fig.16 The first invention Fig.15 The first partial picture. Fig.17 The first invention Fig.15 The second partial picture of . Fig.18This is a partial diagram of the third embodiment of the first invention. Fig.19 It is a schematic diagram of the internal structure of the detection frame in the third embodiment of the first invention. Fig. 20 For the first shot Fig.19 Exploded diagram of . Fig.21 This is a partial view of the second invention. Fig. 22 It is a schematic diagram of the internal structure of the detection frame in the second invention.

[0020] Fig.23 This is a state diagram of the color sensor being located on the lane dividing line and the detection wheel being located on the wheel track in the second invention, wherein: Fig.23 (a) is a state diagram where the color sensor is located in the middle of the lane dividing line and the detection wheel is located in the middle of the wheel track; Fig.23 (b) is a state diagram in which one of the color sensors crosses the left side of the lane dividing line and the detection wheel is located on the left side of the wheel track; Fig.23 (c) is the state diagram when one of the color sensors crosses the right side of the lane dividing line and the detection wheel is located on the right side of the wheel track.

[0021] Fig.24 This is a state diagram of the moving component and the steering component driving the detection rotation position when both color sensors cross the lane dividing line in the second invention, wherein: Fig.24 (a) is a state diagram of the two color sensors initially leaving the lane boundary to the left and the detection wheel initially leaving the wheel track to the left; Fig.24 (b) is the state diagram when the detection wheel turns right and the positions of the two color sensors remain unchanged; Fig.24 (c) is a state diagram of the detection wheel moving onto the wheel track and the two color sensors moving onto the lane dividing line; Fig.24 (d) is the state diagram when the detection wheel turns left and resets, and the positions of the two color sensors remain unchanged.

[0022] In the figure, 1, connecting rod; 2, controller; 31, front wheel; 32, rear wheel; 41, front frame; 42, rear frame; 43, detection frame; 5, separation assembly; 51, cam; 52, slider; 53, spring 1; 6, self-retractable wheel frame; 61, outer cover; 62, telescopic rod; 63, pressure plate; 64, spring 2; 65, spring seat; 7, steering assembly; 71, steering motor; 72, driving wheel; 73, driven wheel; 74, articulated seat; 75, pull rope; 8, main frame; 81, lateral displacement seat; 811, compensation groove; 82. Connecting seat; 83. Housing; 84. Holding bolt; 85. Cross bar; 86. Hanging seat; 9. Moving assembly; 91. Moving motor; 92. Active umbrella wheel; 93. Driven umbrella wheel; 94. Screw rod; 95. Nut; 96. Stabilizing rod; 97. Sleeve; 10. Detection wheel; 101. Wheel frame; 11. Transparent cover; 12. Color sensor; 13. Vertical displacement sensor; 131. Force plate; 132. Ball bearing; 16. Connecting frame; 17. Drag block; 18. Sagging block; A. Wheel track strip; B. Lane dividing line. DETAILED DESCRIPTION

[0023] According to the following Figure 1-Figure 24 The present invention describes a surveying and mapping flatness calibration device and a calibration method provided by an embodiment of the present invention.

[0024] Example 1: Please refer to Figure 1 As shown, an embodiment of the present invention provides a surveying and mapping flatness calibration device, including a front frame 41, a rear frame 42 and a detection frame 43 located below the front frame 41, four front wheels 31 are arranged below the front frame 41, four rear wheels 32 are arranged below the rear frame 42, a detection wheel 10 is arranged below the detection frame 43, and a connecting rod 1 is also arranged on the front frame 41. Before using the device for detection, the other end of the connecting rod 1 needs to be connected to a vehicle that can be driven on the road. When the vehicle is driving on the road, it can drive the device to move on the road, so as to achieve the purpose of detection by the detection wheel 10, and the test speed is limited to (the speed of the driving vehicle) 30km / h-100km / h.

[0025] Combination Figure 2 and Figure 3As shown, the detection frame 43 is two groups of support plates arranged side by side, which are hoisted under the front frame 41. A vertical displacement sensor 13 is arranged at the upper position between the two groups of support plates. The sampling interval of the vertical displacement sensor 13 is less than 500mm. The lower end of the vertical displacement sensor 13 is the force-bearing end, and a force-bearing plate 131 is installed at its lower end. When the force-bearing plate 131 receives pressure from below, it will produce vertical displacement (this is a well-known technology in the prior art and will not be described here). The detection wheel 10 is located in the lower space between the two groups of support plates, and a self-retractable wheel frame 6 is provided between the detection wheel 10 and the vertical displacement sensor 13. In the initial state, the detection wheel 10 is located on the surface of the wheel track belt A, so that it detects the flatness of the surface of the wheel track belt A. When the detection wheel 10 encounters a position with poor flatness, the self-retractable wheel frame 6 will retract, so that the vertical displacement sensor 13 detects the change in the pressure of the self-retractable wheel frame 6 on it, so that the detection wheel 10 and the vertical displacement sensor 13 cooperate to detect and achieve the purpose of detecting flatness. Figure 3 , Figure 4 and Figure 6 As shown, a main frame 8 for supporting the self-retractable wheel frame 6 is provided on the detection frame 43.

[0026] like Figure 4 Since a moving vehicle will produce a certain amount of position deviation, the detection wheel 10 cannot always maintain the position of the wheel track belt A. For this purpose, a color sensor 12, a controller 2 and a moving component 9 are provided. The moving component 9 is arranged on two sets of support plates. The color sensor 12 is located on both sides of the detection wheel 10. Before detection, the position of the detection wheel 10 needs to be adjusted so that the detection wheel 10 is located on the wheel track belt A in the initial state. During the detection process, the color sensor 12 intermittently detects the color from below. The controller 2 is used to receive the signal of the color sensor 12 and obtain the information that the position of the detection wheel 10 is located at or exceeds the wheel track belt A. When the color sensor 12 detects that the wheel track belt A is below itself (the wheel track belt A is darker in color than other positions on the road surface), that is, the detection wheel 10 is just located on the wheel track belt A, the moving component 9 does not move. On the contrary, when the position of the detection wheel 10 exceeds the wheel track belt A, the controller 2 can control the moving component 9 to work, and the moving component 9 pushes the detection wheel 10 to move so that the detection wheel 10 is always located on the surface of the wheel track belt A. It should be noted that the moving component 9 actually realizes the lateral movement of the detection wheel 10 by pushing the main frame 8 to move. Therefore, a lateral movement seat 81 is provided on both sides of the main frame 8. The lateral movement seat 81 passes through the detection frame 43. When the main frame 8 produces a lateral displacement, it can slide on the detection frame 43 to maintain the lateral movement stability of the self-retractable wheel frame 6.

[0027] Before actual operation, the controller 2 can be connected to a terminal, such as a computer or a mobile phone, and pictures of the individual wheel track belt A and the non-wheel track belt area can be taken on the spot, and the color of the pictures of the wheel track belt A and the non-wheel track belt area can be used as a comparison library of the controller 2. The color sensor 12 detects once every 2 seconds. A transparent cover 11 is set below the color sensor 12 to protect the color sensor 12.

[0028] Specifically, the detection wheel 10 is a circular roller, and a wheel frame 101 is provided above the detection wheel 10. However, the direction in which the moving assembly 9 pushes the circular roller is perpendicular to the direction in which the front frame 41 drives it to move. Figure 5 For better understanding, the figure is a top view of the detection wheel 10. The vertical force is the force F1 exerted on it by the front frame 41, and the lateral force is the thrust exerted on it by the moving assembly 9, which causes excessive lateral wear of the detection wheel 10, which can easily damage the detection wheel 10 and affect subsequent detection results. Therefore, a steering assembly 7 is also provided here. The steering assembly 7 is mounted on the detection frame 43. The steering assembly 7 drives the self-retractable wheel frame 6 to rotate the required angle to turn the detection wheel 10, that is, the detection wheel 10 moves in an inclined state, which greatly reduces lateral wear. The self-retractable wheel frame 6 rotates 45° to turn the detection wheel 10 45°.

[0029] In addition, the steering assembly 7 includes a driven wheel 73 fixed to the periphery of the self-retractable wheel frame 6, one side of the driven wheel 73 is meshed with a driving wheel 72, and one side of the main frame 8 is assembled with a steering motor 71 for driving the driving wheel 72 to rotate, and the steering motor 71 can drive the driving wheel 72 to rotate, that is, the self-retractable wheel frame 6 can be driven to rotate a desired angle through the driven wheel 73. After the steering, the detection wheel 10 is driven to move by the moving assembly 9, and at this time, the moving state of the detection wheel 10 is not tilted and rotated, and the detection wheel 10 re-enters the surface of the wheel track belt A, and the wear is greatly reduced.

[0030] Combination Figure 4 , Figure 6 and Figure 7 As shown, for the accuracy of detection, the color sensor 12 is actually closer to the detection wheel 10. In actual use, it is found that the color sensor 12 that is closer will cause the detection wheel 10 to collide with the color sensor 12 when turning. For this purpose, a separation component 5 is provided. Specifically, a cam 51 is fixedly provided on the periphery of the self-retractable wheel frame 6, and sliders 52 are provided on both sides of the cam 51. The slider 52 can slide on the transverse seat 81, and a spring 53 is fixedly provided between the slider 52 and the inner wall of the detection frame 43; the color sensor 12 is hoisted below the slider 52.

[0031] In this embodiment, when the steering assembly 7 rotates, the self-retractable wheel frame 6 rotates accordingly, thereby driving the cam 51 to rotate. When the cam 51 rotates, it can push the slider 52 to slide outward on the transverse seat 81 (at this time, the spring 1 53 is in a compressed state), and then drive the color sensor 12 away from the detection wheel 10 to avoid wheel collision. The spring 1 53 is used to reset the slider 52.

[0032] Reference Figure 7 and Fig. 9 As shown, the self-retractable wheel frame 6 comprises a jacket 61, a telescopic rod 62 and a pressure plate 63. The jacket 61 is rotatably mounted on the main frame 8, the telescopic rod 62 is inserted in the jacket 61, and a spring seat 65 is fixedly arranged at the lower end of the portion of the telescopic rod 62 located in the jacket 61, a spring 64 is arranged between the upper surface of the spring seat 65 and the upper end of the jacket 61, and the pressure plate 63 is mounted on the upper end of the telescopic rod 62. The pressure plate 63 is a wide contact surface to compensate for the displacement of the detection wheel 10, so that the pressure plate 63 is always in contact with the lower end of the vertical displacement sensor 13. Preferably, the pressure plate 63 is circular.

[0033] In this embodiment, when the detection wheel 10 is pushed up by the road surface, the telescopic rod 62 moves upward, driving the pressure plate 63 to apply pressure to the force plate 131, so that the force plate 131 moves upward, and the vertical displacement sensor 13 can obtain the detection result. At the same time, the spring seat 65 compresses the spring 2 64 upward. When the detection wheel 10 is no longer pushed up by the road surface, the spring 2 64 is reset to achieve the purpose of the pressure plate 63 moving downward and resetting. It is also worth noting that the pressure plate 63 always exerts pressure on the force plate 131, and the two are always in contact. Preferably, a ball 132 is set on the lower surface of the force plate 131, so as to avoid the wear of the pressure plate 63 and the force plate 131 when the moving component 9 drives the self-retractable wheel frame 6 to move horizontally.

[0034] Combination Figure 6 and Fig.10 In the above overall implementation scheme, the moving assembly 9 can be driven by a screw, a gear or a cylinder. The following takes the screw drive as an example to describe the specific structure of the moving assembly 9 in the embodiment of the present invention; specifically, the moving assembly 9 includes a screw 94 located on one side of the transverse shift seat 81, a nut 95 is threadedly connected to the screw 94, a connecting seat 82 is arranged between the nut 95 and the main frame 8, both ends of the screw 94 are mounted on the detection frame 43 through bearings, and a moving motor 91 is also arranged on the detection frame 43, an active umbrella wheel 92 is fixed at its power output end, and a driven umbrella wheel 93 meshing with the active umbrella wheel 92 is assembled at one end of the screw 94. Preferably, a stabilizing rod 96 is arranged on the other side of the transverse shift seat 81, a sliding sleeve 97 is sleeved on the stabilizing rod 96, and a connecting seat 82 is arranged between the sliding sleeve 97 and the main frame 8, so as to maintain the movement stability of the main frame 8 and the transverse shift seat 81.

[0035] In this embodiment, when the moving motor 91 is working, it can drive the screw rod 94 to rotate through the active umbrella wheel 92 and the driven umbrella wheel 93 so that the nut 95 can move laterally, and then drive the main frame 8 and the transverse seat 81 to move laterally.

[0036] When in use (working), before detection, first connect the other end of the connecting rod 1 to a vehicle that can travel on the road, and place the detection wheel 10 on the surface of the wheel track belt A. When the flatness of the wheel track belt A is poor, the detection wheel 10 is pushed up by the road surface, and the telescopic rod 62 moves upward, driving the pressure plate 63 to apply pressure to the force plate 131, so that the force plate 131 moves upward, and the vertical displacement sensor 13 can obtain the detection result and transmit the result to the controller 2. At the same time, the spring seat 65 compresses the spring 2 64 upward. When the detection wheel 10 is no longer pushed up by the road surface, the spring 2 64 is reset, so that the pressure plate 63 is moved downward and reset.

[0037] At the same time, the color sensor 12 detects the color below itself. When the color detected is the color of the wheel track A, the detection wheel 10 is just located on the wheel track A ( Fig.11 In the three cases, the detection wheel 10 is just located on the wheel track belt A), and the moving assembly 9 does not move; on the contrary, when the detection wheel 10 is located beyond the wheel track belt A, the controller 2 can first control the steering motor 71 to work, and the steering motor 71 can drive the driving wheel 72 to rotate, and drive the self-retractable wheel frame 6 to rotate the required angle through the driven wheel 73. After the steering, the detection wheel 10 is driven to move by the moving assembly 9, and the detection wheel 10 re-enters the surface of the wheel track belt A.

[0038] For example, refer to Fig.12 (a), the detection wheel 10 leaves the wheel track A to the left, and a color sensor 12 on the left detects the area below it that is not the wheel track. The controller 2 controls the steering motor 71 to work and turn it to the right. Fig.12 (b), the controller 2 then controls the moving assembly 9 to work, pushing the detection wheel 10 onto the wheel track belt A, as shown in FIG. Fig.12 (c), until the color sensor 12 detects that the ground color is dark (the color of the wheel track A), the controller 2 controls the steering motor 71 to work in the reverse direction again to reset the direction of the detection wheel 10, such as Fig.12 (d).

[0039] For example, refer to Fig.13 (a), the detection wheel 10 moves to the right away from the wheel track A. At this time, a color sensor 12 on the right detects that the area below it is not the wheel track area. The controller 2 controls the steering motor 71 to work and make it turn left. Fig.13 (b), the controller 2 then controls the moving assembly 9 to move in the reverse direction, pushing the detection wheel 10 onto the wheel track belt A, as shown in FIG. Fig.13(c), until the color sensor 12 detects that the ground color is dark (the color of the wheel track A), the controller 2 controls the steering motor 71 to work in the reverse direction again to reset the direction of the detection wheel 10, such as Fig.13 (d).

[0040] Embodiment 2: Combination Figure 14-17 As shown, the difference between this embodiment and the first embodiment is that the steering assembly 7 is directly controlled to work through the moving assembly 9, and then the moving assembly 9 controls the movement of the transverse shift seat 81.

[0041] Specifically, the moving assembly 9 has two power output ends, that is, two nuts 95 are arranged on the screw rod 94 as two power output ends, two sleeves 97 are sleeved on the stabilizing rod 96, and the connecting frame 16 is assembled between the corresponding nuts 95 and the sleeves 97, and the connecting frame 16 is located above the transverse seat 81, and the steering assembly 7 includes an articulated seat 74 installed at two positions on one side of the self-retractable wheel frame 6, and the two articulated seats 74 are provided with a pull rope 75, each pull rope 75 is connected to a connecting frame 16, and the moving assembly 9 can pull the pull rope 75 to drive the self-retractable wheel frame 6 to rotate. In addition, in the initial state, the two pull ropes 75 are both in a relaxed state, and the drag block 17 is located in the middle position of the compensation groove 811 in the initial state. Preferably, a torsion spring is provided between the self-retractable wheel frame 6 and the main frame 8 for resetting the self-retractable wheel frame 6 after rotation. Furthermore, in order to achieve the purpose of enabling the moving component 9 to first drive the steering component 7 to work and then push the transverse displacement seat 81 to move, a pendant block 18 is provided on the connecting frame 16, a drag block 17 is provided at the lower end of the pendant block 18, and a compensation groove 811 adapted to the drag block 17 is opened on the transverse displacement seat 81.

[0042] For example, refer to Fig.14 , when the detection result of the left color sensor 12 is the color of the non-wheel track belt, that is, the detection wheel 10 at this time is Fig.12 In the state shown in (a), the controller 2 controls the moving motor 91 to work, so that the nut 95 moves to the right, thereby the connecting frame 16 moves to the right, the right side of the pull rope 75 is in a gradually tightened state, and the left side of the pull rope 75 is in a more relaxed state, until the right side of the pull rope 75 starts to apply tension to the articulated seat 74, at which time the self-retractable wheel frame 6 is Fig.14 In the state shown, the detection wheel 10 is rotated 45° counterclockwise, and the loose pull rope 75 on the left side can compensate for the rotation of the self-retractable wheel frame 6. Fig.12 (b) and at this time, the drag blocks 17 on both sides have reached the rightmost side of the compensation slot 811, and as the moving assembly 9 continues to move rightward, the drag blocks 17 can drag the entire lateral shift seat 81 to move rightward, forming Fig.12(c), the controller 2 then controls the moving assembly 9 to drive the connecting frame 16 to reset a certain distance. After the connecting frame 16 is reset, the drag block 17 returns to the middle of the compensation groove 811, and the pull rope 75 on the right side no longer generates tension on the self-retractable wheel frame 6, so that the self-retractable wheel frame 6 automatically rotates and resets due to the action of the torsion spring. At this time, the detection wheel 10 forms Fig.12 (d) The state shown.

[0043] Example 3: Combination Figure 18-Figure 20 As shown, the difference between this embodiment and the above two embodiments is that, in order to reduce the setting of the above steering assembly 7, the detection wheel 10 is set as a spherical wheel, and a wheel frame 101 is provided on the upper and outer part of the detection wheel 10. Here, the wheel frame 101 is a spherical shell with an opening, and an opening is provided below it to expose the spherical wheel so that the spherical wheel can rotate on the road surface. Both sides of the main frame 8 are provided with a transverse seat 81, which passes through the detection frame 43 so that the main frame 8 can slide on the detection frame 43 when it is displaced. The moving assembly 9 directly pushes the spherical detection wheel 10 to move laterally. Since it is a spherical structure, the lateral friction can also be greatly reduced. Preferably, the pressure plate 63 is a rectangular structure.

[0044] Combination Figure 21-24 In the second aspect, the present invention also provides another surveying and mapping flatness calibration device, which is similar to the detection method in the first invention mentioned above, and the body structure is the same as the structure in the first invention, and it also includes a detection frame 43, a vertical displacement sensor 13 and a detection wheel 10. The detection frame 43 is two groups of support plates arranged side by side, and the vertical displacement sensor 13 is fixedly arranged at the upper position between the two groups of support plates. The detection wheel 10 is located in the lower space between the two groups of support plates, and a self-retractable wheel frame 6 is provided between the detection wheel 10 and the vertical displacement sensor 13. The detection wheel 10 is used to contact the surface of the wheel track belt A. A main frame 8 for supporting the self-retractable wheel frame 6 is provided on the detection frame 43, and transverse seats 81 are provided on both sides of the main frame 8. The transverse seats 81 pass through the detection frame 43, so that the main frame 8 can slide on the detection frame 43 when it is displaced, thereby adjusting the position of the detection wheel 10.

[0045] The specific difference is that the detection point of the color sensor 12 in the present invention is different. The color sensor 12 in the present invention is used to detect the lane dividing line B (the existing lane dividing line B is generally white or yellow, and is generally 10 cm wide). The color of the lane dividing line B is more distinguishable from the color of the ground lane. Compared with directly detecting the color of the wheel track A, its accuracy is higher. For this reason, an extension rod, a controller 2 and a moving component 9 are provided here. The extension rod is arranged at one end of one of the transverse seats 81 away from the main frame 8, and the color sensor 12 is installed at the end of the extension rod away from the main frame 8. The color sensor 12 is initially aligned with the lane dividing line B. The color sensor 12 is used to detect the color below itself. The controller 2 is used to receive the signal of the color sensor 12 and obtain the information that the position of the color sensor 12 is located at or crosses the lane dividing line B. The moving component 9 is arranged on two sets of support plates. The controller 2 is used to drive the moving component 9 to work. The moving component 9 changes the position of the main frame 8 so that the detection wheel 10 is always located on the surface of the wheel track A. It is worth noting that the extension rod can be assembled on any one of the transverse seats 81 by bolts, so as to achieve the purpose of detecting the flatness of the left wheel track belt or the right wheel track belt. Preferably, the distance between the two color sensors 12 is 5cm-8cm. The above-mentioned extension rod includes a shell 83, one end of which is installed on one of the transverse seats 81, and a cross bar 85 is inserted in the shell 83. The end of the cross bar 85 away from the transverse seat 81 is provided with a suspension seat 86, and the color sensor 12 is suspended under the suspension seat 86. By applying an axial force to the cross bar 85, the length of the cross bar 85 extending out of the shell 83 can be adjusted, thereby adjusting the position of the color sensor 12, so that when the detection wheel 10 is located on the wheel track belt A, the color sensor 12 is located on the lane dividing line B.

[0046] The "Highway Roadbed and Pavement Field Test Procedure" stipulates that when the inner wheel track is used as the detection point, or the outer wheel track is used as the detection point, the area 80cm-100cm away from the lane dividing line B is selected, and after the cross bar 85 is extended to the maximum length, the overall length of the extension rod is not less than 100cm. Preferably, a clamping bolt 84 is provided on the housing 83, and tightening the clamping bolt 84 can lock the position of the cross bar 85 on the housing 83, keeping the extension rod more stable when traveling with the moving vehicle.

[0047] Before using the surveying and mapping flatness calibration device provided by the embodiment of the present invention, firstly connect the other end of the connecting rod 1 to a vehicle that can travel on the road, and place the detection wheel 10 on the surface of the wheel track A, and then adjust the length of the extension rod so that the two color sensors 12 are located in the middle of the lane dividing line B. When the vehicle is traveling, the device is driven to move, and the detection wheel 10, the self-retractable wheel frame 6 and the vertical displacement sensor 13 are used together to detect the flatness of the wheel track A.

[0048] At the same time, the two color sensors 12 work simultaneously and detect the color below themselves. In the present invention, the controller 2 will control the moving component 9 to move only when the two color sensors 12 simultaneously detect the color of the non-lane dividing line. This is because the width of the lane dividing line B is smaller than the width of the wheel track A, and the distance between the wheel track A and the lane dividing line B can vary between 80cm-100cm. Therefore, if a single color sensor 12 detects an area other than the lane dividing line and starts to adjust the position of the detection wheel 10, the detection wheel 10 will be adjusted due to a slight deviation in the position of the moving vehicle, causing the position of the detection wheel 10 to be in an adjustment state at all times, affecting the working stability of the detection wheel 10.

[0049] Reference Fig. 22 The third case is that the distance between the color sensor 12 and the detection wheel 10 is within a reasonable range of 80 cm to 100 cm. Fig.23 (b) and Fig.23 In (c), one color sensor 12 has crossed one side of the lane dividing line B, but at this time the detection wheel 10 has not crossed the wheel track A, and the distance between the wheel track A and the lane dividing line B is also within 80cm-100cm, so the moving component 9 does not move. On the contrary, when the positions of the two color sensors 12 cross the lane dividing line B, the controller 2 can first control the steering motor 71 to work, and the steering motor 71 can drive the driving wheel 72 to rotate, that is, the driven wheel 73 can drive the self-retractable wheel frame 6 to rotate the required angle. After turning, the detection wheel 10 is driven by the moving component 9 to move, so that the detection wheel 10 re-enters the surface of the wheel track A.

[0050] For example, refer to Fig.24 (a), at this time, both color sensors 12 have crossed the left side of the lane dividing line B, and the detection wheel 10 has leftwardly separated from the wheel track A (it may not have leftwardly separated, but will soon separate). At this time, the two color sensors 12 detect that the area below them is not the lane dividing line; the controller 2 controls the steering motor 71 to work, so that the detection wheel 10 turns right, as shown in FIG. Fig.24 (b), at this time, the positions of the two color sensors 12 remain unchanged; then the controller 2 controls the moving assembly 9 to work, and the moving assembly 9 drives the main frame 8 to move to the right, and at the same time pushes the detection wheel 10 to the wheel track A, and the two color sensors 12 move back to the lane dividing line B. At this time, the color detected by the two color sensors 12 is the color of the lane dividing line B, as shown in FIG. Fig.24 (c); the controller 2 controls the steering motor 71 to work in the reverse direction again to reset the direction of the detection wheel 10, such as Fig.24 (d), at this time, the positions of the two color sensors 12 remain unchanged. On the contrary, when both color sensors 12 cross the right side of the lane dividing line B, the principle is the same.

[0051] In a third aspect, the present invention further provides a surveying and mapping flatness calibration method, which is used in the above-mentioned surveying and mapping flatness calibration device, and includes the following steps: Step 1: The detection frame 43 is assembled at the rear of a moving vehicle, the detection wheel 10 in a moving state detects the flatness of the wheel track A, and the color sensor 12 detects the chromaticity thereunder; Step 2: Through the chromaticity detected by the color sensor 12, the moving component 9 controls the position of the detection wheel 10, so that the detection wheel 10 is always located at the position of the wheel track A.

Claims

1. A surveying and mapping flatness calibration device, characterized in that: include: A detection frame (43), wherein the detection frame (43) is two sets of support plates arranged side by side; A vertical displacement sensor (13), the vertical displacement sensor (13) being fixedly mounted at an upper position between the two groups of support plates; A detection wheel (10), the detection wheel (10) being located in the lower space between the two sets of support plates, and a self-retractable wheel frame (6) being provided between the detection wheel (10) and the vertical displacement sensor (13), the detection wheel (10) being used to contact the surface of the wheel track belt; A color sensor (12), the color sensor (12) being located on both sides of the detection wheel (10), and the color sensor (12) being used to detect the color below the color sensor; A controller (2), the controller (2) being used to receive a signal from the color sensor (12) and obtain information that the position of the detection wheel (10) is located at or crosses a wheel track band; A moving assembly (9) is arranged on two groups of support plates. The controller (2) is used to control the operation of the moving assembly (9). The moving assembly (9) drives the detection wheel (10) to move so that the detection wheel (10) is always located on the surface of the wheel track belt.

2. A mapping flatness calibration device according to claim 1, characterized in that: The detection wheel (10) is a circular roller, and a wheel frame (101) is provided above the detection wheel (10); It also includes a steering assembly (7), wherein the steering assembly (7) is mounted on the detection vehicle frame (43), and the steering assembly (7) causes the detection wheel (10) to steer by driving the self-retractable wheel frame (6) to rotate to a required angle; A main frame (8) for supporting the self-retractable wheel frame (6) is provided on the detection frame (43), and transverse seats (81) are provided on both sides of the main frame (8). The transverse seats (81) pass through the detection frame (43) so that the main frame (8) can slide on the detection frame (43) when displacement occurs.

3. A mapping flatness calibration device according to claim 2, characterized in that: The steering assembly (7) comprises a driven wheel (73) fixed to the periphery of the self-retractable wheel frame (6), one side of the driven wheel (73) is meshed with a driving wheel (72), and one side of the main frame (8) is assembled with a steering motor (71) for driving the driving wheel (72) to rotate; The detection wheel (10) after turning is driven by the moving assembly (9) to undergo lateral displacement, so that the detection wheel (10) re-enters the surface of the wheel track belt.

4. A mapping flatness calibration device according to claim 2, characterized in that: The moving assembly (9) has two power output ends, and both power output ends are provided with a connecting frame (16); The steering assembly (7) comprises hinged seats (74) installed at two positions on one side of the self-retractable wheel frame (6) which deviates from the direction of the transverse displacement seat (81). The two hinged seats (74) are each provided with a pull rope (75). Each pull rope (75) is connected to a connecting frame (16). The moving assembly (9) can pull the pull rope (75) to drive the self-retractable wheel frame (6) to rotate. A torsion spring is provided between the self-retractable wheel frame (6) and the main frame (8); The connecting frame (16) is provided with a drooping block (18), a drag block (17) is provided at the lower end of the drooping block (18), and a compensation groove (811) adapted to the drag block (17) is provided on the transverse displacement seat (81).

5. A mapping flatness calibration device according to claim 2, characterized in that: A cam (51) is fixedly provided on the periphery of the self-retractable wheel frame (6), sliders (52) are provided on both sides of the cam (51), the sliders (52) are capable of sliding on the transverse seat (81), and a spring (53) is fixedly provided between the slider (52) and the inner side wall of the detection frame (43); The color sensor (12) is suspended below the slider (52).

6. A mapping flatness calibration device according to claim 1, characterized in that: The detection wheel (10) is a spherical wheel, and a wheel frame (101) is provided on the upper exterior of the detection wheel (10); Transverse shift seats (81) are provided on both sides of the main frame (8), and the transverse shift seats (81) pass through the detection frame (43) so that the main frame (8) can slide on the detection frame (43) when displacement occurs.

7. A mapping flatness calibration device according to any one of claims 1 to 6, characterized in that: The self-retractable wheel frame (6) comprises: Coat (61); A telescopic rod (62), the telescopic rod (62) being inserted into the outer sleeve (61), and a spring seat (65) being fixedly provided at the lower end of the portion of the telescopic rod (62) located in the outer sleeve (61), and a second spring (64) being provided between the upper surface of the spring seat (65) and the upper end of the outer sleeve (61); A pressure plate (63) is mounted on the upper end of the telescopic rod (62). The pressure plate (63) has a wide contact surface to compensate for the displacement of the detection wheel (10) so that the pressure plate (63) is always in contact with the lower end of the vertical displacement sensor (13).

8. A surveying and mapping flatness calibration device, characterized in that: include: A detection frame (43), wherein the detection frame (43) is two sets of support plates arranged side by side; A vertical displacement sensor (13), the vertical displacement sensor (13) being fixedly mounted at an upper position between the two groups of support plates; A detection wheel (10), the detection wheel (10) being located in the lower space between the two groups of support plates, and a self-retractable wheel frame (6) being provided between the detection wheel (10) and the vertical displacement sensor (13), the detection wheel (10) being used to contact the surface of the wheel track belt, a main frame (8) being provided on the detection frame (43) for supporting the self-retractable wheel frame (6), transverse seats (81) being provided on both sides of the main frame (8), the transverse seats (81) passing through the detection frame (43) so that the main frame (8) can slide on the detection frame (43) when displacement occurs; An extension rod, the extension rod being arranged at one end of one of the transverse displacement seats (81) away from the main frame (8), and a color sensor (12) being installed at the end of the extension rod away from the main frame (8), the color sensor (12) being initially aligned with the lane dividing line, and the color sensor (12) being used to detect the color below itself; A controller (2), the controller (2) being used to receive a signal from a color sensor (12) and obtain information that the position of the color sensor (12) is located at or crosses a lane dividing line; A moving assembly (9) is arranged on two groups of support plates. The controller (2) is used to drive the moving assembly (9) to work. The moving assembly (9) changes the position of the main frame (8) so that the detection wheel (10) is always located on the surface of the wheel track belt.

9. A mapping flatness calibration device according to claim 8, characterized in that: The extension rod comprises a shell (83), one end of the shell (83) is mounted on one of the transverse shift seats (81), a crossbar (85) is inserted into the shell (83), a suspension seat (86) is provided at one end of the crossbar (85) away from the transverse shift seat (81), and the color sensor (12) is suspended below the suspension seat (86); The housing (83) is provided with a clamping bolt (84), and tightening the clamping bolt (84) can lock the position of the cross bar (85) on the housing (83).

10. A surveying and mapping flatness calibration method, used in the surveying and mapping flatness calibration device according to claim 1 or 8, characterized in that: The following steps are involved: Step 1: The detection frame (43) is assembled on the rear of the moving vehicle, the detection wheel (10) in a moving state detects the flatness of the wheel track, and the color sensor (12) detects the chromaticity below it; Step 2: Using the chromaticity detected by the color sensor (12), the moving component (9) controls the position of the detection wheel (10), so that the detection wheel (10) is always located at the wheel track position.

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